Download Basic CAN Driver User Manual - Diamond Systems Corporation

Janus-MM Basic CAN Driver
For Linux 2.6.xx and Windows XP
User Manual
Revision A
Revision
Date
A
06/16/2011
Comments
Initial Version
FOR TECHNICAL SUPPORT
PLEASE CONTACT:
[email protected]
Copyright 2011
Diamond Systems Corporation
555 Ellis Street
Mountain View, CA 94043 USA
Tel 1-650-810-2500
Fax 1-650-810-2525
www.diamondsystems.com
Table of Contents
1
Introduction
3
2
Scope
3
3
Setting up the hardware
4
4
5
6
7
3.1
Hardware Jumper settings
3.1.1
The CAN Termination, Slew Rate and Power Supply Selection
4
4
3.2
The CAN IRQ Selection
3.2.1
The CAN Base Address Selection
5
5
3.3
Loop Back Cable Setup
6
3.4
CAN Analyzer Setup (For Debugging)
6
Linux 2.6.xx Driver - Functions Exported
7
4.1
open()
8
4.2
close()
9
4.3
IOCTL – Write CAN Frame
10
4.4
IOCTL – Read CAN Frames
11
4.5
IOCTL – Set CAN Baud Rate
12
Linux Driver Installation and Running the application
13
5.1
Compiling and loading the driver
13
5.2
Compiling and running the Application
13
5.3
Stopping the application and unloading
15
5.4
Linux Driver Application examples
16
Windows XP Driver - Functions exported
17
6.1
OpenDevice ()
18
6.2
CloseHandle ()
19
6.3
IOCTL – Write CAN Frame
20
6.4
IOCTL – Read CAN Frames
21
6.5
IOCTL – Set CAN Baud Rate
22
6.6
IOCTL – Configure CAN base address
23
Windows Driver Installation and Running the application
24
7.1
Driver Installation
24
7.2
Driver Un-Installation
26
7.3
Driver Sample Application Usage
26
Janus-MM CAN Driver User Manual
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1 Introduction
This document provides complete instructions on using the device drivers for exercising the CAN bus on
the Janus-MM CAN ports. The Janus-MM board has two CAN ports which are CAN 2.0 compatible using
the SJA1000 CAN bus controllers.
In order to communicate with the CAN controllers, Diamond Systems provides a set of freely usable basic
device drivers on Linux 2.6.xx and Windows XP operating systems so that the board can be quickly
evaluated and a user can develop applications with the driver on the OS of choice.
This document is meant for…
1. Application developers who want to use the CAN driver can use this document to understand the driver
calls and use in their application.
2. Test engineers who want to test the driver and application can use this document to set up the
hardware test environment, connect a snooper, install driver and run the application.
2 Scope
The device driver distributed has the following specifications.
Available on Linux kernel version 2.6.23 and Windows XP OS.
Low level driver that can perform open, close, read, write on the device.
Ability to change the baud rate of the CAN communication up to 1Mbps baud rate.
Handle interrupt request on both the IRQs for each CAN port on the board.
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3 Setting up the hardware
3.1
Hardware Jumper settings
The jumper settings have to be made according to the configuration as mentioned in the Janus-MM user
manual. It is required that the hardware base address and the IRQ settings used for the operation is
available in the SBC that is being used to run the Janus-MM board. When using Athena-II SBC, please
restore the Athena-II BIOS to default settings.
The Sample jumper settings are described in the sections below when Janus-MM is used with Athena-II
SBC.
3.1.1
The CAN Termination, Slew Rate and Power Supply Selection
Jumpers J10 and J11 provide CAN termination, slew rate and power supply selection for both CAN ports;
J10 is used to configure CAN port A and J11 is used to configure CAN port B.
The following diagram shows the jumper pin layout and the recommended jumper setting.
J10 and J11 Jumpers with Default settings
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3.2
The CAN IRQ Selection
Use jumper J5 to specify the IRQ for both CAN ports. The following diagram shows the jumper pin layout.
The IRQ jumper setting on the board must match the software settings in the driver configuration or
command line arguments when running the applications as described in the later sections of this
document.
J5 Jumpers with Default Settings (IRQ 5 for CAN A and IRQ7 for CAN B)
3.2.1
The CAN Base Address Selection
Use pin sets CN0-CN7 of jumper J4 to set the CAN base address using Memory address spaces. The
diagram below shows the jumper setting for Memory address 0xD7000 for CANA. The port CANB
automatically is offset by 0x200 so the address for CANB would be 0xD7200. Please refer to the JanusMM user manual for more information on the jumper settings and board configuration.
J4 Jumper setting for using memory address of 0xD7000
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3.3
Loop Back Cable Setup
The CAN H and CAN L lines should be connected as below for stand-along testing on a Janus-MM CANA
and CANB ports. In this configuration, the data sent on one port will be received by the other port to verify
the connectivity as well as the operation of the driver.
3.4
CAN Analyzer Setup (For Debugging)
To debug the connectivity, a CAN analyzer can be used to tap into the CAN connections of the Janus MM
CAN ports. There are two CAN ports, CANA and CANB, available in the JANUSMM board. These ports
are looped-back for testing. The CAN analyzer tapping the CAN packet is also shown in the picture
below. Using this connectivity, the CAN traffic going between the two ports can be monitored on the CAN
analyzer.
NOTE: This is provided as a suggestion and Diamond Systems does not recommend any specific CAN
tools. It is up to you to use any available CAN hardware which are CAN 2.0 compatible.
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4
Linux 2.6.xx Driver - Functions Exported
This section discusses all the functions exported by the Linux driver, their prototypes, their usage
and an example segment of code. The Linux driver is supported on kernel version 2.6.xx and it is
recommended to use the kernel version 2.6.23.
The following table provides a list of functions exported by the Linux driver.
Function Name
open ()
close ()
IOCTL
Description
This function is used to open the CAN device and get the handle for that
device. The handle returned by this function MUST be used in all subsequent calls in the application.
This function is used to release the device and to remove the handle
returned by the call to OpenDevice function.
For all other functions, the driver provides a set of IOCTL commands to
perform various functions on the driver like read from CAN bus, write to CAN
bus, configure memory address and set baud rate. All the various IOCTL
commands should be executed via the “ioctl” function which is prototyped in
“sys/ioctl.h”.
IOCTL CODE
Operation
SJA1000_IOCTRANS
Transmit ioctl request code. This IOCTL code
should be used for transmitting data on the
CAN bus.
SJA1000_IOCRECV
Receive ioctl request code. This IOCTL
should be used for reading data from the CAN
bus.
SJA1000_IOCBTR
Baud-rate ioctl request code. This IOCTL
should be used to set the baud rate of the
CAN bus port.
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4.1
open()
DESCRIPTION
This function is used to open the CAN device and get the handle
for that device.
PROTOTYPE
int open(char *Devicename, int flag)
RETURN VALUE
Returns nonnegative value on successful execution and it will act
as handler to access the device. Negative value means failure to
open the device.
PARAMETERS
Devicename
The device name to open the device. This file name
should be any of the following
dev/CANA, /dev/CANB
flag
O_RDWR
appDevHandle
This parameter is the handle for the device.
REMARKS
This function should be called before calling any other driver
functions. This function will give the handle for
the CAN device.
EXAMPLE
#include "can.h"
#include "sja1000_ioctl.h"
………
int appDevHandle;
char appDeviceName[15] = /dev/CANA;
appDevHandle = open(appDeviceName , O_RDWR);
if(appDevHandle < 0) {
printf("Device Open Error");
exit(0);
}
………
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4.2
close()
DESCRIPTION
This function is used to release the device and to remove the
handle.
PROTOTYPE
int close(int appDevHandle);
RETURN VALUE
Returns nonnegative value on successful execution.
PARAMETERS
appDevHandle
This parameter is the handle for the device.
REMARKS
This should be the last function call in the application.
EXAMPLE
#include "can.h"
#include "sja1000_ioctl.h"
………
int appDevHandle;
appRetVal = close(appDevHandle);
if(appRetVal == 0) {
printf("Device Closed\n");
}
………
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4.3
IOCTL – Write CAN Frame
DESCRIPTION
This function is used to transmit the CAN frames to the
hardware.
PROTOTYPE
#include <sys/ioctl.h>
int ioctl(int appDevHandle, int request, unsigned long *in_frame);
RETURN VALUE
On success zero is returned. On error, -1 is returned, and errno
is set appropriately.
PARAMETERS
appDevHandle
This parameter is the handle for the device.
request
A long word integer that specifies the Transmit ioctl
request code (SJA1000_IOCTRANS)
in_frame
The CAN Frame that has to be transmitted.
EXAMPLE
#include "can.h"
#include "sja1000_ioctl.h"
………
int appDevHandle;
struct can_frame frame;
………
// Data is Transmitted as can frames
appWRetVal = ioctl(appDevHandle, SJA1000_IOCTRANS,
(unsigned long)&frame);
………
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4.4
IOCTL – Read CAN Frames
DESCRIPTION
This function is used by the driver to receive the CAN frames
from the hardware when data is available.
PROTOTYPE
#include <sys/ioctl.h>
int ioctl(int appDevHandle, int request, unsigned long
*out_frame);
RETURN VALUE
Return count of the data received. On error, -1 is returned, and
errno is set appropriately.
PARAMETERS
appDevHandle
This parameter is the handle for the device.
request
A long word integer that specifies the Receive ioctl
request code (SJA1000_IOCRECV)
out_frame
The received CAN Frame.
EXAMPLE
#include "can.h"
#include "sja1000_ioctl.h"
………
int appDevHandle;
unsigned long data[10];
………
// Data is received as unsigned long type // array which can be
packed back as CAN frame
appWRetVal = ioctl(appDevHandle, SJA1000_IOCRECV,
(unsigned long) data);
………
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4.5
IOCTL – Set CAN Baud Rate
DESCRIPTION
This function is used to set the bitrate for the specified device.
PROTOTYPE
#include <sys/ioctl.h>
int ioctl(int appDevHandle, int request, unsigned long *in_btr);
RETURN VALUE
On success zero is returned. On error, -1 is returned, and
errno is set appropriately.
PARAMETERS
appDevHandle
This parameter is the handle for the device.
request
A long word integer that specifies the Bit-timing ioctl
request code (SJA1000_IOCBTR)
in_btr
Bitrate for the specified CAN device.
EXAMPLE
#include "can.h"
#include "sja1000_ioctl.h"
………
int appDevHandle;
struct can_btr btr;
………
// Bitrate value ranges upto 1000000
appWRetVal = ioctl(appDevHandle, SJA1000_IOCBTR,
(unsigned long)&btr);
………
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5
Linux Driver Installation and Running the application
This section discusses how to install the driver and run the application.
Untar can_beta0.2.tar.bz2 with the following command,
# tar xfvj can_beta0.2.tar.bz2
5.1
Compiling and loading the driver
From the release directory issue change directory to enter into the driver folder and issue make
command,
# cd driver
# make
Run install.sh to load the kernel,
# ./install.sh
Current install.sh is a shell script that uses the following configuration,
canA : Address = 0xD7000 and IRQ = 5
canB : Address = 0xD7200 and IRQ = 7
This can be edited to use different address and IRQ number for both CAN devices.
5.2
Compiling and running the Application
From the release directory issue change directory to enter into the application folder,
# cd application
Issue the following command. This will create three binaries for transmitting, receiving and setting
bitrate.
# ./compile.sh
Run the following command for setting bitrate.
# ./bitrate –h
Usage: ./bitrate [options] [<CAN-Device-Name>]
Options:
-b <bitrate>
: bit-rate in bits/sec
-s <samp_pt>
: sample-point in one-tenth of a percent
or 0 for CIA recommended sample points
-c <clock>
: real CAN system clock in Hz
-h
: help
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Ex 1: configure bitrate for both canA and canB
# ./bitrate –b 1000000
Ex 2: configure biterate for any one device
# ./bitrate –b 500000 canA
Open two new terminals, and run canrecv and cansend from different terminals.
Canrecv has to be run first. It will wait for data.
# ./canrecv canB
Cansend has to be run next, the command is as shown below.
# ./cansend canA
The help menu for canrecv and cansend is shown below:
a. cansend
#
./cansend –help
Usage: cansend [<can-interface>] [Options] <can-msg>
<can-msg> can consist of up to 8 bytes given as a space separated list
Options:
-i, --identifier=ID
CAN Identifier (default = 1)
-r --rtr
send remote request
-e --extended
send extended frame
-l
send message infinite times
--loop=COUNT
send message COUNT times
-p --pattern
send message data in incremental pattern
-o <filename>
Input filename
-v, --version
be verbose
-h, --help
this help
Ex 1: Transmit CAN frames
# ./cansend canA 0x1 0x2 0x3 0x4 0x5 0x6 0x7 0x8 –l --pattern
Ex 2: Transmit a file continuously
# ./cansend canA –o Transmit.txt
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b. canrecv
#
./canrecv –help
Usage: canrecv [<can-interface>] [Options]
Options:
-o <filename>
Output filename
-h, --help
this help
EX 1: Receive CAN Frames
# ./canrecv canB
EX 2: Receive Files and store the file in incremental order (1recv.txt, recv.txt, 3recv.txt,…….,)
# ./canrecv canB –o recv.txt
Note: For 10 minutes the application can send 37 files each of size 1024 bytes.
5.3
Stopping the application and unloading
The application can be stopped by pressing Ctrl+C.
The driver is unloaded using the following command.
# ./uninstall.sh
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5.4
Linux Driver Application examples
Example 1:
The delivery package can be tested to transmit data patterns as follows,
a) Open a command shell and type the following.
# ./canrecv canB > rx.txt
The application will be waiting for data from „cansend‟ application.
b) Open another command shell and type the following. The „cansend‟ application will start sending
the data.
# ./cansend canA 0x1 0x2 0x3 0x4 0x5 0x6 0x7 > tx.txt
c) Leave the applications running for few hours. First stop the „cansend‟ application by pressing CtrlC. Then stop „canrecv‟.
d) Now you have the log files generated at both the ends. And they can be compared using the linux
command „diff‟ as follows,
# diff tx.txt rx.txt
Example 2:
The delivery package can be tested to transmit file as follows,
a) Open a command shell and type the following.
# ./canrecv canB -o rx.txt
The application will be waiting for file from „cansend‟ application.
b) Open another command shell and type one of the following command. The „cansend‟ application
will start sending the file.
# ./cansend canA –o tx.txt –-loop=0x5 //will send the file for 5 times
# ./cansend canA –o tx.txt –l
//will send the file continuously
# ./cansend canA –o tx.txt
//will send the file once
c) Leave the applications running for few hours. First stop the „cansend‟ application by pressing CtrlC. Then stop „canrecv‟.
d) Now you have the multiple instances of the transmitted file generated by the receiving node as
1rx.txt, 2rx.txt, 3rx.txt and so on. And they can be compared using the Linux command „diff‟.
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6
Windows XP Driver - Functions exported
This section discusses all the functions exported by the Windows driver, their prototypes, their
usage and an example segment of code.
The following table lists the functions supported by the driver.
Function Name
OpenDevice ()
CloseHandle ()
IOCTL
Description
This function is used to open the CAN device and get the handle for that
device. The handle returned by this function MUST be used in all subsequent calls in the application.
This function is used to release the device and to remove the handle
returned by the call to OpenDevice function.
For all other functions, the driver provides a set of IOCTL commands to
perform various functions on the driver like read from CAN bus, write to CAN
bus, configure memory address and set baud rate. All the various IOCTL
commands should be executed via the DeviceIoControl function.
IOCTL CODE
Operation
IOCTL_WRITE
This macro specifies the Transmit ioctl
request code. This IOCTL code should be
used for transmitting data on the CAN bus.
IOCTL_READ
This macro specifies the Receive ioctl request
code. This IOCTL should be used for reading
data from the CAN bus.
IOCTL_SET_BAUD_RATE
This macro specifies the Baud-rate ioctl
request code. This IOCTL should be used to
set the baud rate of the CAN bus port.
IOCTL_SET_MEM
This macro specifies the memory base
address configuration request code. The value
passed when setting the base address should
match the base address jumper configuration
in the hardware.
The section below provides a list of functions exported by the Windows driver.
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6.1
OpenDevice ()
DESCRIPTION
This function is used to open the CAN device and get the handle
for that device.
PROTOTYPE
OpenDevice(IN CONST GUID * InterfaceGuid,
IN ULONG
FileFlagOptions)
RETURN VALUE
Returns Handle value.
PARAMETERS
InterfaceGuid
The device interface GUID to be opens the port. This
GUID name should be unique and declared in public.h
file
FileFlagOptions
This parameter should be set to
FILE_FLAG_OVERLAPPED.
REMARKS
This function should be called before calling any other driver
functions. This function will give the handle for
the CAN device.
EXAMPLE
#include “public.h"
………
HANDLE
hISAdevice;
hISAdevice = OpenDevice(
&GUID_DEVINTERFACE_CAN,
FILE_FLAG_OVERLAPPED );
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6.2
CloseHandle ()
DESCRIPTION
This function is used to release the device and to remove the
handle.
PROTOTYPE
CloseHandle(hISAdevice);
RETURN VALUE
If the function succeeds, the return value is nonzero.
PARAMETERS
REMARKS
DevHandle
This parameter is the handle for the device obtained
from a previous call to OpenDevice function.
This should be the last function call in the application.
EXAMPLE
#include “public.h"
………
HANDLE
hISAdevice;
hISAdevice = CloseHandle(hISAdevice);
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6.3
IOCTL – Write CAN Frame
DESCRIPTION
PROTOTYPE
This function is used to transmit the CAN frames to the hardware.
#include <winioctl.h>
okay = DeviceIoControl( hISAdevice,
IOCTL_WRITE, outbuf, outsize,
inbuf, insize, &numread, lpOverlapped);
RETURN VALUE
If the operation completes successfully, the return
Value is non zero.
PARAMETERS
hISAdevice
This parameter is the handle for the device.
IOCTL_WRITE
This macro specifies the Transmit ioctl request code
Outbuf
The CAN Frame that has to be transmitted.
Ex: outbuf[0] =FrameFormat
outbuf[1] =Identifier
outbuf[n]= data.
Outsize
The size of data to be transmitted.
Inbuf
Not needed.
Insize
Not needed.
lpBytesReturned
Actual data size. (not needed.)
lpOverlapped
This should be always Null.
EXAMPLE
#include "public.h"
………
HANDLE
hISAdevice;
………
okay = DeviceIoControl( hISAdevice,
IOCTL_WRITE, outbuf,
outcount,inbuf,insize,
&numread,NULL);
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6.4
IOCTL – Read CAN Frames
DESCRIPTION
PROTOTYPE
This function is used to receive the CAN frames from the hardware.
#include <winioctl.h>
okay = DeviceIoControl( hISAdevice,
IOCTL_READ, outbuf, outsize,
inbuf, insize, &numread, lpOverlapped);
RETURN VALUE
If the operation completes successfully, the return
Value is non zero.
PARAMETERS
hISAdevice
This parameter is the handle for the device.
IOCTL_READ
This macro specifies the Receive ioctl request code
Outbuf
Not needed
Outsize
Not needed.
Inbuf
The structure contains the frame datas in the following
format,
Fi -> frame format
iVer->identifier
rData-> CAN Receive data.
Insize
Size of inbuf.
lpBytesReturned
Actual data size.
lpOverlapped
This should be always Null.
EXAMPLE
#include "public.h"
………
HANDLE
hISAdevice;
………
okay = DeviceIoControl( hISAdevice,
IOCTL_READ, NULL,
0,inbuf,insize,
&numread,NULL);
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6.5
IOCTL – Set CAN Baud Rate
DESCRIPTION
PROTOTYPE
This function is used to transmit the baud rate value to the driver
#include <winioctl.h>
okay = DeviceIoControl( hISAdevice,
IOCTL_SET_BAUD_RATE, outbuf, outsize,inbuf,
insize,
&numread, lpOverlapped);
RETURN VALUE
If the operation completes successfully, the return
Value is non zero.
PARAMETERS
hISAdevice
This parameter is the handle for the device.
IOCTL_SET_BAUD_RATE
This macro specifies the Baud-rate ioctl request code
Outbuf
Bit rate value.
Outsize
The size of bit rate value.
Inbuf
Not needed.
Insize
Not needed.
lpBytesReturned
Actual data size. (not needed.)
lpOverlapped
This should be always Null.
EXAMPLE
#include "public.h"
………
HANDLE
hISAdevice;
………
okay = DeviceIoControl( hISAdevice,
IOCTL_SET_BAUD_RATE, outbuf,
outcount,inbuf,insize,
&numread,NULL);
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6.6
IOCTL – Configure CAN base address
DESCRIPTION
This function is used to configure address of the CAN driver
PROTOTYPE
#include <winioctl.h>
okay = DeviceIoControl( hISAdevice,
IOCTL_SET_MEM, outbuf, outsize,
inbuf, insize, &numread, lpOverlapped);
RETURN VALUE
If the operation completes successfully, the return
Value is non zero.
PARAMETERS
hISAdevice
This parameter is the handle for the device.
IOCTL_SET_MEM
This macro specifies the memory address configuration
request code
Outbuf
Memory address value.
Outsize
The size of memory address variable.
Inbuf
Not needed.
Insize
Not needed.
lpBytesReturned
Actual data size. (not needed.)
lpOverlapped
This should be always Null.
EXAMPLE
#include "public.h"
………
HANDLE
hISAdevice;
………
okay = DeviceIoControl( hISAdevice,
IOCTL_SET_MEM, outbuf,
outcount,inbuf,insize,
&numread,NULL);
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7
Windows Driver Installation and Running the application
This section discusses how to install the driver on Windows XP OS and run the sample application(s)
called “canSend” and “canRecv”.
The Windows driver is available in binary format and is distributed as the following files.
Filename
SJA1000_CAN.INF
SJA1000_CAN.SYS
INSTALL.BAT
REMOVE.BAT
DEVCON.EXE
WDFCOINSTALLER01009.DLL
Description
INF File for usage when the device is detected by windows
The CAN driver ( installs in C:\Windows\System32\Drivers folder )
Driver installation batch file.
Driver un-installation batch file.
Alternative to Device Manager. Used by INSTALL.BAT and
REMOVE.BAT
Support DLL required along with the INF file.
NOTE: The driver is supported on Windows XP OS only and will not work with Windows 7.
7.1
Driver Installation
a.
b.
c.
Double-click the “install.bat” file to install the driver.
Check for the driver entries (canSend & canRecv) in “Control Panel ->
system-> Hardware -> Device Manager -> Sample Device”.
To configure the IRQ value, change the “IRQConfig” value in .inf file for both
controllers as follows,
[S5933DK1_LogConfig]
IRQConfig=5
[S5933DK2_LogConfig]
IRQConfig=7
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7.2
Driver Un-Installation
d.
e.
7.3
Double-click the “remove.bat” file to un-install the driver.
Check for the driver removal (canSend & canRecv) in “Control Panel ->
system -> Hardware -> Device Manager -> Sample Device”.
Driver Sample Application Usage
1) Steps for CAN frame transmission and reception
1. Open two command windows
2. Run “canSend.exe” in the first command window for transmission.
3. Run “canRecv.exe” in the second command window for reception.
NOTE: The same steps can be followed Vice-versa to make “canSend.exe” as
master and “canRecv.exe” as slave.
Command description for canSend:
"Usage: canSend.exe [<can-interface>] [Options] <can-msg>"
"<can-msg> can consist of up to 8 bytes given as a space separated list"
"Options:"
" -i
" -e
" -l
[ ex: -i ID ] CAN Identifier (default = 1)"
send extended frame"
[ ex : -l COUNT ]
send message COUNT times"
" -p
send message data in incremental pattern"
" -b
[ ex : -b br_value ] baud-rate (default = 1000000)"
" -a
[ ex : -a address ] address (default = 0xD7000) "
" -o
<filename>"
" -h, --help
"Input filename"
this help"
Example for Data Transmission ( TX ) on device CANA:
Pattern :
File
:
Janus-MM CAN Driver User Manual
canSend.exe canA –b 1000000 –a d7200 –p –i 2 1 2 3 4 5 6 7 8
canSend.exe canA –b 1000000 –a d7200 –p –i 2 –o input.txt
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Command description for canRecv:
"Usage: canRecv.exe [<can-interface>] [Options] <can-msg>"
"Options:"
" -b [ ex : -b br_value ] baud-rate (default = 1000000) "
" -a
[ ex : -a address ] address (default = 0xD7200)"
" -o
<filename>"
"output filename”
" -h, --help
this help"
Example of data reception ( RX ) on device CANB:
Pattern :
File
:
canRecv.exe canB –b 1000000 –a d7000
canRecv.exe canB –b 1000000 –a d7000 –o output.txt
2) Logging the data transferred
Example:
TX:
canSend.exe canA –b 1000000 –a d7200 –p –i 2 1 2 3 4 5 6 7 8 > tx.txt
RX:
canRecv.exe canB –b 1000000 –a d7000 > rx.txt
Both the log files can be compared using any file comparing utility.
3) Compiling the Application
a.
Install WDK (Windows Driver Kit) in development PC.
b.
Go to “Programs->Windows Driver Kits -> WDK7600
->Build Environments ->Windows XP
-> x86 Free Build Environment
c.
Go to Application source code directory.
d.
Build the program into an EXE using the BLD command.
Janus-MM CAN Driver User Manual
www.diamondsystems.com
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